# US 10,369,691 B2 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,691 B2 - Document ID: US10369691B2 - Status: Granted - Kind: B2 - Application number: 15/696,415 - Filed: 2017-09-06 - Published: 2017-12-21 - Granted: 2019-08-06 - Earliest claimed: 2013-06-14 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Takema Yamazaki; Takashi Nagate - Web page: https://patentgrep.com/patent/US10369691B2 ## CPC - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - Y10S 901/23: Electric motor - Y10T 74/20305: Robotic arm - Y10T 74/20317: including electric motor - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A robot includes a first arm and a second arm. The first arm and the second arm have different mechanisms from each other. ## Claims ### Claim 1 A robot comprising: a first arm; a second arm; and a control unit that controls driving of the first arm and the second arm wherein the control unit is configured to switch between a first state in which the first arm is an inferior arm and the second arm is a superior arm and the second state in which the first arm is the superior arm and the second arm is the inferior arm, and the control unit is capable of performing control so that a first operation area where the inferior arm operates is smaller than a second operation area where the superior arm operates. ### Claim 2 (depends on 1) The robot according to claim 1, wherein if an x-axis, a y-axis and a z-axis that are orthogonal to each other are set, the inferior arm and the superior arm operate in the direction of the x-axis, in the direction of the y-axis and in the direction of the z-axis, and that the control unit performs control so that the volume of the first operation area is 10% or greater and 70% or smaller than the volume of the second operation area. ### Claim 3 (depends on 1) The robot according to claim 1, wherein if an x-axis, a y-axis and a z-axis that are orthogonal to each other are set, the control unit performs control so that the lengths of the first operation area in the direction of the x-axis, in the direction of the y-axis and in the direction of the z-axis are shorter than the lengths of the second operation area in the direction of the x-axis, in the direction of the y-axis and in the direction of the z-axis, respectively. ### Claim 4 (depends on 1) The robot according to claim 1, wherein a work area where a distal end of the inferior arm can operate and a work area where a distal end of the superior arm can operate have an overlap area with each other, and that the control unit performs control so that the superior arm operates preferentially in the overlap area. ### Claim 5 (depends on 1) The robot according to claim 1, wherein a human work area where a human carries out work is provided on the side of the inferior arm, and that the control unit performs control so that the first operation area does not overlap with the human work area. ### Claim 6 (depends on 1) The robot according to claim 1, further comprising: a first drive motor to drive the inferior arm; and a second drive motor to drive the superior arm; wherein a voltage applied to the first drive motor is lower than a voltage applied to the second drive motor. ### Claim 7 (depends on 1) The robot according to claim 1, further comprising: a first drive motor to drive the inferior arm; and a second drive motor to drive the superior arm; wherein the rotational speed of the first drive motor is slower than the rotational speed of the second drive motor. ### Claim 8 (depends on 1) The robot according to claim 1, further comprising a first drive motor to drive the inferior arm and a second drive motor to drive the superior arm, wherein the control unit performs control so that the amount of heat generated by the first drive motor is smaller than the amount of heat generated by the second drive motor. ### Claim 9 (depends on 1) The robot according to claim 1, wherein the robot is configured to carry out assembly work of assembling a first structure and a second structure together, and that the control unit, when carrying out the assembly work, performs control so that the inferior arm holds the first structure in a stationary state while the superior arm brings the second structure closer to the first structure. ### Claim 10 (depends on 1) The robot according to claim 1, wherein when starting up the inferior arm and the superior arm, performs control so that the superior arm is started up before the inferior arm. ### Claim 11 (depends on 1) The robot according to claim 1, wherein work area where a human carries out work is provided on the side of one of the first arm and the second arm, and that the control unit performs control so that the first operation area becomes smaller than the second operation area in the state where the work area is set on the side of the first arm, whereas the second operation area becomes smaller than the first operation area in the state where the work area is set on the side of the second arm. ### Claim 12 A robot comprising: a first arm; a second arm; and a control unit that controls driving of the first arm and the second arm wherein the control unit is configured to switch between the first state in which the first arm is an inferior arm and the second arm is a superior arm and the second state in which the first arm is the superior arm and the second arm is the inferior arm, and the control unit is capable of performing control so that an operation speed of the first arm is slower than an operation speed of the second arm. ### Claim 13 (depends on 12) The robot according to claim 12, further comprising a first drive motor to drive the inferior arm and a second drive motor to drive the superior arm, and that the control unit performs control so that the torque of the first drive motor is smaller than the torque of the second drive motor.